Coordinated Adaptive Control Of Multi - Agent System With Unknown Control Gain

The multi-agent system is the research focus of the cross fields of artificial intelligence and collaborative control. In the early stage of the research of multi-agent system, most of the research work is mainly focused on the construction and analysis of multi-agent model. With the introduction of a large number of mathematical knowledge, the multi-agent system has been further developed. The researches focus on the coordination control of multi-agent model based on multi-agent model. In the coordination control of multi-agent system, it is generally assumed that the exchange of information among the various agents is accurate. But the control direction or high frequency gain is limited or even unknown in practice. The main research contents of this paper include the following two aspects:First, for the first order multi-agent system with unknown control gain, a special Nussbaum function is selected. Based on the properties of Nussbaum function, we discuss a new lemma.For the analysis of multi-agent closed loop system, it is very important. By introducing a special Nussbaum function, the control protocol with adaptive rate is designed. We solve the problem of consistency and asymptotic behavior of the first order multi-agent system with unknown control gain in the undirected connected topology, weakly connected directed graph and strongly connected to Tutu. Different from other documents, this article will continue to deepen the problem. The finite time stability problem of first order multi-agent systems with unknown control gain is studied for the first time. By using Lyapunov stability theory, finally the conclusion is given. The results of the simulation are verified by simulation examples.Second, for the second order multi-agent system with unknown control gain, a new special Nussbaum function is selected. A new lemma is discussed. Different from the previous chapter,the selection of the new Nussbaum function does not contain parameters. We study the second order multi-agent system. Considering the topological structure, the relative position and the speed of the agent should be considered. We need to introduce more new variables. So it is much more difficult to study the second order multi-agent system than to study the first order multi-agent system. By introducing a new Nussbaum function, the control protocol with adaptive rate is designed. We solve the consistency and asymptotic stability problem of the second order multi-agent system with unknown control gain in the undirected connected topology, the balance of weakly connected directed graph and strongly connected to Tutu respectively. By using the Matlab tool, the simulation results verify the correctness of the conclusions.